Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[Swerve Setpoint Generator] Prevent force from being applied to chassisTorque if the magnitude of the force is 0 #927

Merged
merged 2 commits into from
Dec 18, 2024
Merged

[Swerve Setpoint Generator] Prevent force from being applied to chassisTorque if the magnitude of the force is 0 #927

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
edfdfd0
Prevent force from being applied if the magnitude of the force is 0
TheComputer314 Dec 14, 2024
5f67b57
Merge branch 'main' into main
mjansen4857 Dec 18, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 5 additions & 3 deletions pathplannerlib/src/main/java/com/pathplanner/lib/util/swerve/SwerveSetpointGenerator.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -273,9 +273,11 @@ public SwerveSetpoint generateSetpoint(
chassisForceVec = chassisForceVec.plus(moduleForceVec);

// Calculate the torque this module will apply to the chassis
Rotation2d angleToModule = config.moduleLocations[m].getAngle();
Rotation2d theta = moduleForceVec.getAngle().minus(angleToModule);
chassisTorque += forceAtCarpet * config.modulePivotDistance[m] * theta.getSin();
if (!epsilonEquals(0, moduleForceVec.getNorm())) {
Rotation2d angleToModule = config.moduleLocations[m].getAngle();
Rotation2d theta = moduleForceVec.getAngle().minus(angleToModule);
chassisTorque += forceAtCarpet * config.modulePivotDistance[m] * theta.getSin();
}
}

Translation2d chassisAccelVec = chassisForceVec.div(config.massKG);
Expand Down
Loading